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<div class="title">kinfu.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_KINFU_KINFUTRACKER_HPP_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_KINFU_KINFUTRACKER_HPP_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_macros.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/containers/device_array.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/kinfu/pixel_rgb.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/kinfu/tsdf_volume.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/kinfu/color_volume.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/kinfu/raycaster.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;Eigen/Core&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="comment">// Focal lengths of RGB camera</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">#define KINFU_DEFAULT_RGB_FOCAL_X 525.f</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor">#define KINFU_DEFAULT_RGB_FOCAL_Y 525.f</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="comment">// Focal lengths of depth (i.e. NIR) camera</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="preprocessor">#define KINFU_DEFAULT_DEPTH_FOCAL_X 585.f</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="preprocessor">#define KINFU_DEFAULT_DEPTH_FOCAL_Y 585.f</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;{</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keyword">namespace </span>gpu</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  {</div>
<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html">   67</a></span>&#160;    <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html">KinfuTracker</a></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    {</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a791a9c4f046d57cca7adfdceb4e0c90b">   71</a></span>&#160;        <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1gpu_1_1_pixel_r_g_b.html">pcl::gpu::PixelRGB</a> <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a791a9c4f046d57cca7adfdceb4e0c90b">PixelRGB</a>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;PixelRGB&gt;</a> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">View</a>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;unsigned short&gt;</a> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DepthMap</a>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a> <a class="code" href="structpcl_1_1_point_x_y_z.html">PointType</a>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1_normal.html">pcl::Normal</a> <a class="code" href="structpcl_1_1_normal.html">NormalType</a>;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a298ae65a16962a6b22734aa4e82b1e30">   83</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a298ae65a16962a6b22734aa4e82b1e30">KinfuTracker</a> (<span class="keywordtype">int</span> rows = 480, <span class="keywordtype">int</span> cols = 640);</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#acae5bda1179509b76228ac375729452b">   92</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#acae5bda1179509b76228ac375729452b">setDepthIntrinsics</a> (<span class="keywordtype">float</span> fx, <span class="keywordtype">float</span> fy, <span class="keywordtype">float</span> cx = -1, <span class="keywordtype">float</span> cy = -1);</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ace3373be40a46a814be7463563fee375">  101</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ace3373be40a46a814be7463563fee375">getDepthIntrinsics</a> (<span class="keywordtype">float</span>&amp; fx, <span class="keywordtype">float</span>&amp; fy, <span class="keywordtype">float</span>&amp; cx, <span class="keywordtype">float</span>&amp; cy);</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a41ef2c5b91a365165c77d4050208fa4f">  108</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a41ef2c5b91a365165c77d4050208fa4f">setInitalCameraPose</a> (<span class="keyword">const</span> Eigen::Affine3f&amp; pose);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;                        </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#aeb3ffe5642a699214025025cb7268007">  115</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#aeb3ffe5642a699214025025cb7268007">setDepthTruncationForICP</a> (<span class="keywordtype">float</span> max_icp_distance = 0.f);</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a6fa2d79e775a0a08b88f72b783a869c3">  122</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a6fa2d79e775a0a08b88f72b783a869c3">setIcpCorespFilteringParams</a> (<span class="keywordtype">float</span> distThreshold, <span class="keywordtype">float</span> sineOfAngle);</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ab80aef146d7252062f62e5e1bdc10c78">  129</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ab80aef146d7252062f62e5e1bdc10c78">setCameraMovementThreshold</a>(<span class="keywordtype">float</span> threshold = 0.001f);</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a4769c1da08b99f414e4d3a0d935980ea">  135</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a4769c1da08b99f414e4d3a0d935980ea">initColorIntegration</a>(<span class="keywordtype">int</span> max_weight = -1);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a03e8fa0ec87f0a088db77056bb37183b">  139</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a03e8fa0ec87f0a088db77056bb37183b">cols</a> ();</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ae9b0aa678acd26547336f851df3148f3">  143</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ae9b0aa678acd26547336f851df3148f3">rows</a> ();</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ae72308d3cef87136319904dca77bfa52">  150</a></span>&#160;        <span class="keywordtype">bool</span> operator() (<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DepthMap</a>&amp; depth, Eigen::Affine3f* hint=NULL);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00157"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a34a30288656ef19fee3ead14443aff5a">  157</a></span>&#160;        <span class="keywordtype">bool</span> operator() (<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DepthMap</a>&amp; depth, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">View</a>&amp; colors);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        Eigen::Affine3f</div>
<div class="line"><a name="l00164"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#acce9d1f5390482d74cb5e9de5db27ed0">  164</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#acce9d1f5390482d74cb5e9de5db27ed0">getCameraPose</a> (<span class="keywordtype">int</span> time = -1) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00168"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a308ddf89c0d151dc37850a2c5b3385ef">  168</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a308ddf89c0d151dc37850a2c5b3385ef">getNumberOfPoses</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a98ccc9b76287a87ebe616ac9930b346a">  171</a></span>&#160;        <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_tsdf_volume.html">TsdfVolume</a>&amp; <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a98ccc9b76287a87ebe616ac9930b346a">volume</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a9ab29766c8bcb5b208c1ca603194d27a">  174</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1_tsdf_volume.html">TsdfVolume</a>&amp; <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a9ab29766c8bcb5b208c1ca603194d27a">volume</a>();</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#af13756a71109b514ef08665d27539e42">  177</a></span>&#160;        <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_color_volume.html">ColorVolume</a>&amp; <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#af13756a71109b514ef08665d27539e42">colorVolume</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a1f63fe2a29378cdd1477c6ed5c099608">  180</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1_color_volume.html">ColorVolume</a>&amp; <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a1f63fe2a29378cdd1477c6ed5c099608">colorVolume</a>();</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00186"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a39c68ad891480b038b5b3af4f5127111">  186</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a39c68ad891480b038b5b3af4f5127111">getImage</a> (<a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">View</a>&amp; view) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00192"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a051b9bfa972836a3276c9198a718e9cb">  192</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a051b9bfa972836a3276c9198a718e9cb">getLastFrameCloud</a> (<a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;PointType&gt;</a>&amp; cloud) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00198"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ab4a6a0ab27a5dbef0ed62f8a93250915">  198</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ab4a6a0ab27a5dbef0ed62f8a93250915">getLastFrameNormals</a> (<a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;NormalType&gt;</a>&amp; normals) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a7aa190d3a049ccacbcfdf7952435a387">  201</a></span>&#160;        <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a7aa190d3a049ccacbcfdf7952435a387">disableIcp</a>();</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      <span class="keyword">private</span>:</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        <span class="keyword">enum</span> { LEVELS = 3 };</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a8260cd0b0ff8aee29f62a8b5bd5a4ee0">  209</a></span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;int&gt;</a> <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a8260cd0b0ff8aee29f62a8b5bd5a4ee0">CorespMap</a>;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ac6907a617eb7d3a1fe2a3f1875699ea5">  212</a></span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;float&gt;</a> <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ac6907a617eb7d3a1fe2a3f1875699ea5">MapArr</a>;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        <span class="keyword">typedef</span> Eigen::Matrix&lt;float, 3, 3, Eigen::RowMajor&gt; Matrix3frm;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        <span class="keyword">typedef</span> Eigen::Vector3f Vector3f;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#af860cce1c7f322fe73da29759307bb4a">  218</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#af860cce1c7f322fe73da29759307bb4a">rows_</a>;</div>
<div class="line"><a name="l00220"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ac1f951fc7ea1f6bed900aba7f842ede7">  220</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ac1f951fc7ea1f6bed900aba7f842ede7">cols_</a>;</div>
<div class="line"><a name="l00222"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a2ebf671c0dce357586de014eab6c0365">  222</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a2ebf671c0dce357586de014eab6c0365">global_time_</a>;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00225"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a33ed5080ed83531d8751356d8f33a66e">  225</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a33ed5080ed83531d8751356d8f33a66e">max_icp_distance_</a>;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160; </div>
<div class="line"><a name="l00228"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ae803cd706fe0ae0e84a51069e713a773">  228</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ae803cd706fe0ae0e84a51069e713a773">fx_</a>, fy_, cx_, cy_;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160; </div>
<div class="line"><a name="l00231"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a07f8d3a86e2116f477993cfab38481d2">  231</a></span>&#160;        TsdfVolume::Ptr <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a07f8d3a86e2116f477993cfab38481d2">tsdf_volume_</a>;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        ColorVolume::Ptr color_volume_;</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;                </div>
<div class="line"><a name="l00235"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a151d5a6632fe146444ec17b4af23ef25">  235</a></span>&#160;        Matrix3frm <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a151d5a6632fe146444ec17b4af23ef25">init_Rcam_</a>;</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160; </div>
<div class="line"><a name="l00238"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a827ec5a264191792bacc6ae886144e74">  238</a></span>&#160;        Vector3f   <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a827ec5a264191792bacc6ae886144e74">init_tcam_</a>;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160; </div>
<div class="line"><a name="l00241"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a765d6f071ab9e279c1f58460ce6513e9">  241</a></span>&#160;        <span class="keywordtype">int</span> icp_iterations_[LEVELS];</div>
<div class="line"><a name="l00243"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a00137ea245d532cad2aead412d190af0">  243</a></span>&#160;        <span class="keywordtype">float</span>  <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a00137ea245d532cad2aead412d190af0">distThres_</a>;</div>
<div class="line"><a name="l00245"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ad24e48b0cf8999a9c49560372cdb088d">  245</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ad24e48b0cf8999a9c49560372cdb088d">angleThres_</a>;</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;        </div>
<div class="line"><a name="l00248"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a37cecb34a971ccb0589105acd0f6c689">  248</a></span>&#160;        std::vector&lt;DepthMap&gt; <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a37cecb34a971ccb0589105acd0f6c689">depths_curr_</a>;</div>
<div class="line"><a name="l00250"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a225d02e6e2880275ab4f183992d12e93">  250</a></span>&#160;        std::vector&lt;MapArr&gt; <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a225d02e6e2880275ab4f183992d12e93">vmaps_g_curr_</a>;</div>
<div class="line"><a name="l00252"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a48da2f80667f0addb5c6bf13f06e90a8">  252</a></span>&#160;        std::vector&lt;MapArr&gt; <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a48da2f80667f0addb5c6bf13f06e90a8">nmaps_g_curr_</a>;</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160; </div>
<div class="line"><a name="l00255"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ad334aad0c1403136f0703bbbac7edcde">  255</a></span>&#160;        std::vector&lt;MapArr&gt; <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ad334aad0c1403136f0703bbbac7edcde">vmaps_g_prev_</a>;</div>
<div class="line"><a name="l00257"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a72326a442b8e1d31f9c0bd87aa497311">  257</a></span>&#160;        std::vector&lt;MapArr&gt; <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a72326a442b8e1d31f9c0bd87aa497311">nmaps_g_prev_</a>;</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;                </div>
<div class="line"><a name="l00260"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a2b91dc8b08a8141626f8da31b38878a3">  260</a></span>&#160;        std::vector&lt;MapArr&gt; <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a2b91dc8b08a8141626f8da31b38878a3">vmaps_curr_</a>;</div>
<div class="line"><a name="l00262"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a32034ee64394270b288b7f08426bbd0e">  262</a></span>&#160;        std::vector&lt;MapArr&gt; <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a32034ee64394270b288b7f08426bbd0e">nmaps_curr_</a>;</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
<div class="line"><a name="l00265"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a86e03b62d453c129fe2af46dc5c62aa5">  265</a></span>&#160;        std::vector&lt;CorespMap&gt; <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a86e03b62d453c129fe2af46dc5c62aa5">coresps_</a>;</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;        </div>
<div class="line"><a name="l00268"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#acda63a2c9b0ea6c293893c674f060871">  268</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;float&gt;</a> <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#acda63a2c9b0ea6c293893c674f060871">depthRawScaled_</a>;</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;        </div>
<div class="line"><a name="l00271"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a0d13a53668565403ede0b26466a53f73">  271</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;double&gt;</a> <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a0d13a53668565403ede0b26466a53f73">gbuf_</a>;</div>
<div class="line"><a name="l00273"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a545bceaf2d55048ef72a089d08b8db0d">  273</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;double&gt;</a> <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a545bceaf2d55048ef72a089d08b8db0d">sumbuf_</a>;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
<div class="line"><a name="l00276"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a28fff2f7abe3ea086b22dd68060e0cc6">  276</a></span>&#160;        std::vector&lt;Matrix3frm&gt; <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a28fff2f7abe3ea086b22dd68060e0cc6">rmats_</a>;</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;        </div>
<div class="line"><a name="l00279"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ad1a3d9f1a4fa9dcafd3e4e1f41ceb9bf">  279</a></span>&#160;        std::vector&lt;Vector3f&gt; <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ad1a3d9f1a4fa9dcafd3e4e1f41ceb9bf">tvecs_</a>;</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
<div class="line"><a name="l00282"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a63c8c907d3578610d7f3985e2453a94b">  282</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a63c8c907d3578610d7f3985e2453a94b">integration_metric_threshold_</a>;</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160; </div>
<div class="line"><a name="l00285"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a67ee1a667510a18ee1243c5dfa719fa2">  285</a></span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a67ee1a667510a18ee1243c5dfa719fa2">disable_icp_</a>;</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;        </div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00292"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a1aae2a33456b73ddf7e648ac8ebdcab3">  292</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a1aae2a33456b73ddf7e648ac8ebdcab3">allocateBufffers</a> (<span class="keywordtype">int</span> rows_arg, <span class="keywordtype">int</span> cols_arg);</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160; </div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00297"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a33ee559805ad1cbacd971d61ac123230">  297</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a33ee559805ad1cbacd971d61ac123230">reset</a> ();</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160; </div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160; </div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;    };</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;  }</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;};</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160; </div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_KINFU_KINFUTRACKER_HPP_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_color_volume_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1_color_volume.html">pcl::gpu::ColorVolume</a></div><div class="ttdoc">ColorVolume class</div><div class="ttdef"><b>Definition:</b> color_volume.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_device_array2_d_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1_device_array2_d.html">pcl::gpu::DeviceArray2D</a></div><div class="ttdoc">DeviceArray2D class</div><div class="ttdef"><b>Definition:</b> device_array.h:155</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_device_array_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1_device_array.html">pcl::gpu::DeviceArray&lt; double &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html">pcl::gpu::KinfuTracker</a></div><div class="ttdoc">KinfuTracker class encapsulates implementation of Microsoft Kinect Fusion algorithm</div><div class="ttdef"><b>Definition:</b> kinfu.h:68</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_a00137ea245d532cad2aead412d190af0"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a00137ea245d532cad2aead412d190af0">pcl::gpu::KinfuTracker::distThres_</a></div><div class="ttdeci">float distThres_</div><div class="ttdoc">distance threshold in correspondences filtering</div><div class="ttdef"><b>Definition:</b> kinfu.h:243</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_a03e8fa0ec87f0a088db77056bb37183b"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a03e8fa0ec87f0a088db77056bb37183b">pcl::gpu::KinfuTracker::cols</a></div><div class="ttdeci">int cols()</div><div class="ttdoc">Returns cols passed to ctor</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_a051b9bfa972836a3276c9198a718e9cb"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a051b9bfa972836a3276c9198a718e9cb">pcl::gpu::KinfuTracker::getLastFrameCloud</a></div><div class="ttdeci">void getLastFrameCloud(DeviceArray2D&lt; PointType &gt; &amp;cloud) const</div><div class="ttdoc">Returns point cloud abserved from last camera pose</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_a07f8d3a86e2116f477993cfab38481d2"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a07f8d3a86e2116f477993cfab38481d2">pcl::gpu::KinfuTracker::tsdf_volume_</a></div><div class="ttdeci">TsdfVolume::Ptr tsdf_volume_</div><div class="ttdoc">Tsdf volume container.</div><div class="ttdef"><b>Definition:</b> kinfu.h:231</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_a0d13a53668565403ede0b26466a53f73"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a0d13a53668565403ede0b26466a53f73">pcl::gpu::KinfuTracker::gbuf_</a></div><div class="ttdeci">DeviceArray2D&lt; double &gt; gbuf_</div><div class="ttdoc">Temporary buffer for ICP</div><div class="ttdef"><b>Definition:</b> kinfu.h:271</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_a151d5a6632fe146444ec17b4af23ef25"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a151d5a6632fe146444ec17b4af23ef25">pcl::gpu::KinfuTracker::init_Rcam_</a></div><div class="ttdeci">Matrix3frm init_Rcam_</div><div class="ttdoc">Initial camera rotation in volume coo space.</div><div class="ttdef"><b>Definition:</b> kinfu.h:235</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_a1aae2a33456b73ddf7e648ac8ebdcab3"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a1aae2a33456b73ddf7e648ac8ebdcab3">pcl::gpu::KinfuTracker::allocateBufffers</a></div><div class="ttdeci">void allocateBufffers(int rows_arg, int cols_arg)</div><div class="ttdoc">Allocates all GPU internal buffers.</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_a1f63fe2a29378cdd1477c6ed5c099608"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a1f63fe2a29378cdd1477c6ed5c099608">pcl::gpu::KinfuTracker::colorVolume</a></div><div class="ttdeci">ColorVolume &amp; colorVolume()</div><div class="ttdoc">Returns color volume storage</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_a225d02e6e2880275ab4f183992d12e93"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a225d02e6e2880275ab4f183992d12e93">pcl::gpu::KinfuTracker::vmaps_g_curr_</a></div><div class="ttdeci">std::vector&lt; MapArr &gt; vmaps_g_curr_</div><div class="ttdoc">Vertex maps pyramid for current frame in global coordinate space.</div><div class="ttdef"><b>Definition:</b> kinfu.h:250</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_a28fff2f7abe3ea086b22dd68060e0cc6"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a28fff2f7abe3ea086b22dd68060e0cc6">pcl::gpu::KinfuTracker::rmats_</a></div><div class="ttdeci">std::vector&lt; Matrix3frm &gt; rmats_</div><div class="ttdoc">Array of camera rotation matrices for each moment of time.</div><div class="ttdef"><b>Definition:</b> kinfu.h:276</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_a298ae65a16962a6b22734aa4e82b1e30"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a298ae65a16962a6b22734aa4e82b1e30">pcl::gpu::KinfuTracker::KinfuTracker</a></div><div class="ttdeci">KinfuTracker(int rows=480, int cols=640)</div><div class="ttdoc">Constructor</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_a2b91dc8b08a8141626f8da31b38878a3"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a2b91dc8b08a8141626f8da31b38878a3">pcl::gpu::KinfuTracker::vmaps_curr_</a></div><div class="ttdeci">std::vector&lt; MapArr &gt; vmaps_curr_</div><div class="ttdoc">Vertex maps pyramid for current frame in current coordinate space.</div><div class="ttdef"><b>Definition:</b> kinfu.h:260</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_a2ebf671c0dce357586de014eab6c0365"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a2ebf671c0dce357586de014eab6c0365">pcl::gpu::KinfuTracker::global_time_</a></div><div class="ttdeci">int global_time_</div><div class="ttdoc">Frame counter</div><div class="ttdef"><b>Definition:</b> kinfu.h:222</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_a308ddf89c0d151dc37850a2c5b3385ef"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a308ddf89c0d151dc37850a2c5b3385ef">pcl::gpu::KinfuTracker::getNumberOfPoses</a></div><div class="ttdeci">size_t getNumberOfPoses() const</div><div class="ttdoc">Returns number of poses including initial</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_a32034ee64394270b288b7f08426bbd0e"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a32034ee64394270b288b7f08426bbd0e">pcl::gpu::KinfuTracker::nmaps_curr_</a></div><div class="ttdeci">std::vector&lt; MapArr &gt; nmaps_curr_</div><div class="ttdoc">Normal maps pyramid for current frame in current coordinate space.</div><div class="ttdef"><b>Definition:</b> kinfu.h:262</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_a33ed5080ed83531d8751356d8f33a66e"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a33ed5080ed83531d8751356d8f33a66e">pcl::gpu::KinfuTracker::max_icp_distance_</a></div><div class="ttdeci">float max_icp_distance_</div><div class="ttdoc">Truncation threshold for depth image for ICP step</div><div class="ttdef"><b>Definition:</b> kinfu.h:225</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_a33ee559805ad1cbacd971d61ac123230"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a33ee559805ad1cbacd971d61ac123230">pcl::gpu::KinfuTracker::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdoc">Performs the tracker reset to initial state. It's used if case of camera tracking fail.</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_a37cecb34a971ccb0589105acd0f6c689"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a37cecb34a971ccb0589105acd0f6c689">pcl::gpu::KinfuTracker::depths_curr_</a></div><div class="ttdeci">std::vector&lt; DepthMap &gt; depths_curr_</div><div class="ttdoc">Depth pyramid.</div><div class="ttdef"><b>Definition:</b> kinfu.h:248</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_a39c68ad891480b038b5b3af4f5127111"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a39c68ad891480b038b5b3af4f5127111">pcl::gpu::KinfuTracker::getImage</a></div><div class="ttdeci">void getImage(View &amp;view) const</div><div class="ttdoc">Renders 3D scene to display to human</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_a41ef2c5b91a365165c77d4050208fa4f"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a41ef2c5b91a365165c77d4050208fa4f">pcl::gpu::KinfuTracker::setInitalCameraPose</a></div><div class="ttdeci">void setInitalCameraPose(const Eigen::Affine3f &amp;pose)</div><div class="ttdoc">Sets initial camera pose relative to volume coordiante space</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_a4769c1da08b99f414e4d3a0d935980ea"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a4769c1da08b99f414e4d3a0d935980ea">pcl::gpu::KinfuTracker::initColorIntegration</a></div><div class="ttdeci">void initColorIntegration(int max_weight=-1)</div><div class="ttdoc">Performs initialization for color integration. Must be called before calling color integration.</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_a48da2f80667f0addb5c6bf13f06e90a8"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a48da2f80667f0addb5c6bf13f06e90a8">pcl::gpu::KinfuTracker::nmaps_g_curr_</a></div><div class="ttdeci">std::vector&lt; MapArr &gt; nmaps_g_curr_</div><div class="ttdoc">Normal maps pyramid for current frame in global coordinate space.</div><div class="ttdef"><b>Definition:</b> kinfu.h:252</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_a545bceaf2d55048ef72a089d08b8db0d"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a545bceaf2d55048ef72a089d08b8db0d">pcl::gpu::KinfuTracker::sumbuf_</a></div><div class="ttdeci">DeviceArray&lt; double &gt; sumbuf_</div><div class="ttdoc">Buffer to store MLS matrix.</div><div class="ttdef"><b>Definition:</b> kinfu.h:273</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_a63c8c907d3578610d7f3985e2453a94b"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a63c8c907d3578610d7f3985e2453a94b">pcl::gpu::KinfuTracker::integration_metric_threshold_</a></div><div class="ttdeci">float integration_metric_threshold_</div><div class="ttdoc">Camera movement threshold. TSDF is integrated iff a camera movement metric exceedes some value.</div><div class="ttdef"><b>Definition:</b> kinfu.h:282</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_a67ee1a667510a18ee1243c5dfa719fa2"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a67ee1a667510a18ee1243c5dfa719fa2">pcl::gpu::KinfuTracker::disable_icp_</a></div><div class="ttdeci">bool disable_icp_</div><div class="ttdoc">ICP step is completelly disabled. Inly integratio now</div><div class="ttdef"><b>Definition:</b> kinfu.h:285</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_a6fa2d79e775a0a08b88f72b783a869c3"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a6fa2d79e775a0a08b88f72b783a869c3">pcl::gpu::KinfuTracker::setIcpCorespFilteringParams</a></div><div class="ttdeci">void setIcpCorespFilteringParams(float distThreshold, float sineOfAngle)</div><div class="ttdoc">Sets ICP filtering parameters.</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_a72326a442b8e1d31f9c0bd87aa497311"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a72326a442b8e1d31f9c0bd87aa497311">pcl::gpu::KinfuTracker::nmaps_g_prev_</a></div><div class="ttdeci">std::vector&lt; MapArr &gt; nmaps_g_prev_</div><div class="ttdoc">Normal maps pyramid for previous frame in global coordinate space.</div><div class="ttdef"><b>Definition:</b> kinfu.h:257</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_a791a9c4f046d57cca7adfdceb4e0c90b"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a791a9c4f046d57cca7adfdceb4e0c90b">pcl::gpu::KinfuTracker::PixelRGB</a></div><div class="ttdeci">pcl::gpu::PixelRGB PixelRGB</div><div class="ttdoc">Pixel type for rendered image.</div><div class="ttdef"><b>Definition:</b> kinfu.h:71</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_a7aa190d3a049ccacbcfdf7952435a387"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a7aa190d3a049ccacbcfdf7952435a387">pcl::gpu::KinfuTracker::disableIcp</a></div><div class="ttdeci">void disableIcp()</div><div class="ttdoc">Disables ICP forever</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_a8260cd0b0ff8aee29f62a8b5bd5a4ee0"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a8260cd0b0ff8aee29f62a8b5bd5a4ee0">pcl::gpu::KinfuTracker::CorespMap</a></div><div class="ttdeci">DeviceArray2D&lt; int &gt; CorespMap</div><div class="ttdoc">ICP Correspondences map type</div><div class="ttdef"><b>Definition:</b> kinfu.h:209</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_a827ec5a264191792bacc6ae886144e74"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a827ec5a264191792bacc6ae886144e74">pcl::gpu::KinfuTracker::init_tcam_</a></div><div class="ttdeci">Vector3f init_tcam_</div><div class="ttdoc">Initial camera position in volume coo space.</div><div class="ttdef"><b>Definition:</b> kinfu.h:238</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_a86e03b62d453c129fe2af46dc5c62aa5"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a86e03b62d453c129fe2af46dc5c62aa5">pcl::gpu::KinfuTracker::coresps_</a></div><div class="ttdeci">std::vector&lt; CorespMap &gt; coresps_</div><div class="ttdoc">Array of buffers with ICP correspondences for each pyramid level.</div><div class="ttdef"><b>Definition:</b> kinfu.h:265</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_a98ccc9b76287a87ebe616ac9930b346a"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a98ccc9b76287a87ebe616ac9930b346a">pcl::gpu::KinfuTracker::volume</a></div><div class="ttdeci">const TsdfVolume &amp; volume() const</div><div class="ttdoc">Returns TSDF volume storage</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_a9ab29766c8bcb5b208c1ca603194d27a"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#a9ab29766c8bcb5b208c1ca603194d27a">pcl::gpu::KinfuTracker::volume</a></div><div class="ttdeci">TsdfVolume &amp; volume()</div><div class="ttdoc">Returns TSDF volume storage</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_ab4a6a0ab27a5dbef0ed62f8a93250915"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ab4a6a0ab27a5dbef0ed62f8a93250915">pcl::gpu::KinfuTracker::getLastFrameNormals</a></div><div class="ttdeci">void getLastFrameNormals(DeviceArray2D&lt; NormalType &gt; &amp;normals) const</div><div class="ttdoc">Returns point cloud abserved from last camera pose</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_ab80aef146d7252062f62e5e1bdc10c78"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ab80aef146d7252062f62e5e1bdc10c78">pcl::gpu::KinfuTracker::setCameraMovementThreshold</a></div><div class="ttdeci">void setCameraMovementThreshold(float threshold=0.001f)</div><div class="ttdoc">Sets integration threshold. TSDF volume is integrated iff a camera movement metric exceedes the thres...</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_ac1f951fc7ea1f6bed900aba7f842ede7"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ac1f951fc7ea1f6bed900aba7f842ede7">pcl::gpu::KinfuTracker::cols_</a></div><div class="ttdeci">int cols_</div><div class="ttdoc">Width of input depth image.</div><div class="ttdef"><b>Definition:</b> kinfu.h:220</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_ac6907a617eb7d3a1fe2a3f1875699ea5"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ac6907a617eb7d3a1fe2a3f1875699ea5">pcl::gpu::KinfuTracker::MapArr</a></div><div class="ttdeci">DeviceArray2D&lt; float &gt; MapArr</div><div class="ttdoc">Vertex or Normal Map type</div><div class="ttdef"><b>Definition:</b> kinfu.h:212</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_acae5bda1179509b76228ac375729452b"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#acae5bda1179509b76228ac375729452b">pcl::gpu::KinfuTracker::setDepthIntrinsics</a></div><div class="ttdeci">void setDepthIntrinsics(float fx, float fy, float cx=-1, float cy=-1)</div><div class="ttdoc">Sets Depth camera intrinsics</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_acce9d1f5390482d74cb5e9de5db27ed0"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#acce9d1f5390482d74cb5e9de5db27ed0">pcl::gpu::KinfuTracker::getCameraPose</a></div><div class="ttdeci">Eigen::Affine3f getCameraPose(int time=-1) const</div><div class="ttdoc">Returns camera pose at given time, default the last pose</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_acda63a2c9b0ea6c293893c674f060871"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#acda63a2c9b0ea6c293893c674f060871">pcl::gpu::KinfuTracker::depthRawScaled_</a></div><div class="ttdeci">DeviceArray2D&lt; float &gt; depthRawScaled_</div><div class="ttdoc">Buffer for storing scaled depth image</div><div class="ttdef"><b>Definition:</b> kinfu.h:268</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_ace3373be40a46a814be7463563fee375"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ace3373be40a46a814be7463563fee375">pcl::gpu::KinfuTracker::getDepthIntrinsics</a></div><div class="ttdeci">void getDepthIntrinsics(float &amp;fx, float &amp;fy, float &amp;cx, float &amp;cy)</div><div class="ttdoc">Get Depth camera intrinsics</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_ad1a3d9f1a4fa9dcafd3e4e1f41ceb9bf"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ad1a3d9f1a4fa9dcafd3e4e1f41ceb9bf">pcl::gpu::KinfuTracker::tvecs_</a></div><div class="ttdeci">std::vector&lt; Vector3f &gt; tvecs_</div><div class="ttdoc">Array of camera translations for each moment of time.</div><div class="ttdef"><b>Definition:</b> kinfu.h:279</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_ad24e48b0cf8999a9c49560372cdb088d"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ad24e48b0cf8999a9c49560372cdb088d">pcl::gpu::KinfuTracker::angleThres_</a></div><div class="ttdeci">float angleThres_</div><div class="ttdoc">angle threshold in correspondences filtering. Represents max sine of angle between normals.</div><div class="ttdef"><b>Definition:</b> kinfu.h:245</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_ad334aad0c1403136f0703bbbac7edcde"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ad334aad0c1403136f0703bbbac7edcde">pcl::gpu::KinfuTracker::vmaps_g_prev_</a></div><div class="ttdeci">std::vector&lt; MapArr &gt; vmaps_g_prev_</div><div class="ttdoc">Vertex maps pyramid for previous frame in global coordinate space.</div><div class="ttdef"><b>Definition:</b> kinfu.h:255</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_ae803cd706fe0ae0e84a51069e713a773"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ae803cd706fe0ae0e84a51069e713a773">pcl::gpu::KinfuTracker::fx_</a></div><div class="ttdeci">float fx_</div><div class="ttdoc">Intrinsic parameters of depth camera.</div><div class="ttdef"><b>Definition:</b> kinfu.h:228</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_ae9b0aa678acd26547336f851df3148f3"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#ae9b0aa678acd26547336f851df3148f3">pcl::gpu::KinfuTracker::rows</a></div><div class="ttdeci">int rows()</div><div class="ttdoc">Returns rows passed to ctor</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_aeb3ffe5642a699214025025cb7268007"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#aeb3ffe5642a699214025025cb7268007">pcl::gpu::KinfuTracker::setDepthTruncationForICP</a></div><div class="ttdeci">void setDepthTruncationForICP(float max_icp_distance=0.f)</div><div class="ttdoc">Sets truncation threshold for depth image for ICP step only! This helps to filter measurements that a...</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_af13756a71109b514ef08665d27539e42"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#af13756a71109b514ef08665d27539e42">pcl::gpu::KinfuTracker::colorVolume</a></div><div class="ttdeci">const ColorVolume &amp; colorVolume() const</div><div class="ttdoc">Returns color volume storage</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_kinfu_tracker_html_af860cce1c7f322fe73da29759307bb4a"><div class="ttname"><a href="classpcl_1_1gpu_1_1_kinfu_tracker.html#af860cce1c7f322fe73da29759307bb4a">pcl::gpu::KinfuTracker::rows_</a></div><div class="ttdeci">int rows_</div><div class="ttdoc">Height of input depth image.</div><div class="ttdef"><b>Definition:</b> kinfu.h:218</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_tsdf_volume_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1_tsdf_volume.html">pcl::gpu::TsdfVolume</a></div><div class="ttdoc">TsdfVolume class</div><div class="ttdef"><b>Definition:</b> tsdf_volume.h:56</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_normal_html"><div class="ttname"><a href="structpcl_1_1_normal.html">pcl::Normal</a></div><div class="ttdoc">A point structure representing normal coordinates and the surface curvature estimate....</div><div class="ttdef"><b>Definition:</b> point_types.hpp:779</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates. (SSE friendly)</div><div class="ttdef"><b>Definition:</b> point_types.hpp:282</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1_pixel_r_g_b_html"><div class="ttname"><a href="structpcl_1_1gpu_1_1_pixel_r_g_b.html">pcl::gpu::PixelRGB</a></div><div class="ttdoc">Input/output pixel format for KinfuTracker</div><div class="ttdef"><b>Definition:</b> pixel_rgb.h:48</div></div>
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